Introduction to Robotics is a first course on Robotics specifically treating rigid body structure.
The key elements of this course are as follows:
Relative Frames of Reference
Mathematical Reference
Types of Joints / Degrees of Freedom
Denavit Hartenburg Notation
Common 3 and 4 DoF Manipulators
Manipulator Kinematics
Inverse Kinematics
The Jacobian
Path and Trajectory Planning
Manipulator Dynamics (Equation of Motion)